4x 775pro Shifting Gearbox for 6" Wheel

grabcad

Designed for WCD. Uses Vex ball shifter and 6" wheels. Includes several alternate assembly styles. Finishing touches like standoffs are not included. Never found a perfect layout to package the shifting cylinder, despite compacting everything else. I am now thinking that flipped motors configurations are advantageous for single-speed designs, and not as good for shifting ones. Since designing this, COTS chain-in-tube has become available and would make me consider designs using those more seriously. Designed by Peter Salisbury in 2018 offseason for FRC 5811.